This project is written using rospy and uses the turtlebot in gazebo. It has 3 parts:
- Creating a map with
Gmappingusinglidardata:
- Moving the robot using
teleop:
- Moving the robot based on a script for automatic enviroment discovery:
-
Heading towards an end point using
VFH (Vector Field Histogram)for avoiding obstacles and finding the way:
-
Finding the shortest path from starting point to the goal by making a graph of the saved map of the first part and using
Dijkstra's algorithm.
- Found nodes of the graph:
- The coordinates of the pixels of the map image corresponding to the found nodes:
